CN109995296B - Method for optimally controlling torque and suspension force of bearingless switched reluctance motor - Google Patents
Method for optimally controlling torque and suspension force of bearingless switched reluctance motor Download PDFInfo
- Publication number
- CN109995296B CN109995296B CN201910030592.4A CN201910030592A CN109995296B CN 109995296 B CN109995296 B CN 109995296B CN 201910030592 A CN201910030592 A CN 201910030592A CN 109995296 B CN109995296 B CN 109995296B
- Authority
- CN
- China
- Prior art keywords
- torque
- voltage vector
- value
- phase
- suspension force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000013598 vector Substances 0.000 claims abstract description 109
- 238000005339 levitation Methods 0.000 claims abstract description 22
- 230000004907 flux Effects 0.000 claims abstract description 9
- 238000004804 winding Methods 0.000 claims description 61
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000000630 rising effect Effects 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 2
- 238000011217 control strategy Methods 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000013178 mathematical model Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000010349 pulsation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003797 telogen phase Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a method for optimally controlling the torque and the suspension force of a bearingless switched reluctance motor, which introduces model prediction control while selecting the torque and the suspension force vectors, and judges which vector should be selected at the moment by predicting the capacity of the torque and the suspension force generated by each vector. In order to simplify the control strategy, a flux linkage control link is omitted in a torque part, a control interval is selected to be [ -15 degrees, 0 degrees ], a torque prediction model is established, and a vector with the strongest torque capacity is selected and provided through the model; and after the three-phase torque vector is selected, continuously establishing a levitation force prediction model under the vector just selected in the interval, selecting each tooth pole vector with the strongest levitation capacity by the model, and finally determining the switching state of each power converter switching tube according to all voltage vector symbols. According to the invention, a model predictive control algorithm is introduced into direct torque and suspension force control, so that vector selection is more reasonable, and torque suspension force response is quicker.
Description
Technical Field
The invention relates to a method for optimally controlling torque and suspension force of a bearingless switched reluctance motor, and belongs to the technical field of bearingless switched reluctance motors.
Background
A Bearingless Switched Reluctance Motor (BSRM) is a novel motor formed by applying a bearingless technology to a traditional switched reluctance motor, and has a self-suspension function while rotating. The motor is also divided into a single-winding motor and a double-winding motor according to the difference of the number of windings on the stator. The single-winding motor only has one set of winding on each stator tooth pole, and the motor can realize self-suspension while rotating at high speed by controlling the current on the winding. The double-winding motor is provided with two sets of windings on each stator tooth pole, wherein one set of windings are connected in series in the positive direction to generate a balanced bias magnetic field for generating torque; the other set of windings are connected in series in the reverse direction to break the balance of the original magnetic field and are used for generating suspension force, and stable rotation and suspension of the bearingless switched reluctance motor can be realized by adjusting the current in the two sets of windings.
Due to the structural characteristics of the bearingless switched reluctance motor, strong coupling exists between torque and suspension force, and for the bearingless switched reluctance motor, the traditional control method is to calculate the magnitude of each tooth pole current through a mathematical model of the torque and the suspension force so as to carry out hysteresis control. However, the method has the defects of large influence of model precision, large torque and suspension force pulsation, complex control and the like. Based on these shortcomings of this control strategy, direct torque and levitation force control methods for bearingless switched reluctance motors have been proposed later. The method directly controls the torque and the levitation force, so that the output pulsation of the torque and the levitation force is smaller, the link of current calculation in the traditional control is avoided, the influence of model parameters is small, and the control strategy is simplified. However, in the vector selection process, because the flux linkage amplitude is kept constant, an optimal vector cannot be selected to increase and decrease the torque, and therefore the control strategy cannot maximize the torque response speed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method introduces model predictive control on the premise of direct control, so that the controllability of the torque and the suspension force is better.
The invention adopts the following technical scheme for solving the technical problems:
a torque and suspension force optimization control method for a bearingless switched reluctance motor comprises the following steps:
and 3, decomposing each phase voltage vector into a basic voltage vector according to the three-phase voltage vector selected in the step 2, dividing the basic voltage vector into each phase of stator tooth winding, establishing a suspension force prediction model to calculate a suspension force predicted value, substituting the suspension force predicted value into a suspension force cost function to compare, taking the corresponding basic voltage vector when the suspension force cost function value is minimum as the optimal basic voltage vector of each stator tooth winding, and realizing the control of the torque and the suspension force of the bearingless switched reluctance motor according to the optimal basic voltage vector.
As a preferred embodiment of the present invention, in step 1, the three-phase voltage vector is determined through torque calculation, specifically as follows:
in each induction period, the motor runs to sector I, and when the torque needs to be increased, the three-phase voltage vector is v3(-1,1, -1) when torque needs to be reduced, the three-phase voltage vector is v1(1, -1, -1); when the motor runs to the sector II and the torque needs to be increased, the three-phase voltage vector is v4(-1,1,1) when torque demand decreases, the three-phase voltage vector is v6(1, -1, 1); when the motor runs to the sector III, when the torque needs to be increased, the three-phase voltage vector is v5(-1, -1,1) when torque demand decreases, the three-phase voltage vector is v3(-1,1, -1); when the motor runs to the sector IV and the torque needs to be increased, the three-phase voltage vector is v6(1, -1,1), when the torque needs to be reduced, the three-phase voltage vector is v2(1,1, -1); when the motor runs to a V sector and the torque needs to be increased, the three-phase voltage vector is V1(1, -1, -1), when the torque needs to be reduced, the three-phase voltage vector is v5(-1, -1, 1); when the motor runs to the VI sector and the torque needs to be increased, the three-phase voltage vector is v2(1,1, -1), when the torque needs to be reduced, the three-phase voltage vector is v4(-1,1,1)。
As a preferable scheme of the present invention, the current prediction value in step 2 is calculated by the following formula:
wherein ik+1Represents the predicted current value at time k +1, Uk,ik,θkRespectively, a winding terminal voltage value, a current value and a rotor position value at the moment k, delta T represents time per period, psi represents phase flux linkage, R represents phase resistance, and omega represents a motor rotating speed value.
As a preferred embodiment of the present invention, the torque prediction model in step 2 has the following formula:
wherein, Tk+1Representing the predicted amount of torque at time k +1, Jt(θk+1) Representing the value of the torque coefficient at the moment k +1, N representing the number of turns per tooth pole winding, ia(k+1),ib(k+1),ic(k+1)The predicted values of the phase currents at the time a, b and c of k +1 are shown, respectively.
As a preferred embodiment of the present invention, the torque cost function in step 2 has the following formula:
JT＝(Tk+1-Tref)2
wherein, JTRepresenting the value of the torque cost function, Tk+1Represents the predicted torque at time k +1, TrefIndicating a given amount of torque.
As a preferred scheme of the present invention, the suspension force prediction model in step 3 has a formula:
wherein is1(k+1),is2(k+1),is3(k+1),is4(k+1)Respectively showing the current of the 1 st, 2 nd, 3 rd and 4 th teeth poles of each phase,
representing the four-tooth average excitation current, Δ is1(k+1),Δis2(k+1)Respectively, the difference between the currents of the opposite teeth in the alpha and beta directions, Fα(k+1),Fβ(k+1)Respectively represents predicted values of the suspension force in the directions of alpha and beta at the moment of K +1, Kf(θk+1) Representing the value of the suspension coefficient at time k + 1.
As a preferred embodiment of the present invention, the suspension force cost function in step 3 has a formula:
Jα_F＝(Fα(k+1)-Fα_ref)2
Jβ_F＝(Fβ(k+1)-Fβ_ref)2
wherein, Jα_F,Jβ_FRespectively represent the values of the suspension force cost functions in the alpha and beta directions, Fα(k+1),Fβ(k+1)Respectively represents predicted values of alpha and beta directions of the suspension force at the moment of k +1, Fα_ref,Fβ_refRespectively, given amounts of levitation forces in the α and β directions.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. according to the invention, a model predictive control algorithm is introduced into direct torque and suspension force control, so that vector selection is more reasonable, and torque suspension force response is quicker.
2. The invention models the torque and the suspension force in sequence, and separates the torque and the suspension force independently in the cost function, thereby avoiding the adjustment of the weight coefficient between the torque and the suspension force and simplifying the calculation process.
3. The invention abandons the magnetic chain link in the torque control, so that the flux linkage factor is not required to be considered in the process of selecting the three-phase vector, and the control strategy is simplified.
Drawings
Fig. 1 is a system control block diagram of a torque and levitation force optimization control method of a bearingless switched reluctance motor according to the present invention.
Fig. 2 is a schematic structural diagram of an 12/8-pole single-winding bearingless switched reluctance motor according to an embodiment of the present invention.
Fig. 3 is a three-phase voltage vector diagram of the present invention.
Fig. 4 is a three-phase inductance graph of the present invention.
Fig. 5 is a basic voltage vector diagram of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Fig. 1 shows a system control block diagram of the present invention, which performs model predictive control on torque and levitation force respectively, specifically as follows:
the method comprises the steps of respectively adopting a model predictive control algorithm for the torque and the suspension force of a motor, modeling the torque through the algorithm to determine a three-phase vector meeting the given torque requirement, then modeling the suspension force through the algorithm, and subdividing the original three-phase torque vector to each tooth pole winding.
Model prediction control is added in the direct torque control, the torque generated by each vector is predicted by establishing a torque model, and the torque is substituted into a cost function for calculation, and the vector with the minimum cost function value is the most appropriate three-phase vector.
Model prediction control is added in direct suspension force control, and suspension force control is carried out on the premise of stable torque control because the generation of suspension force is established on the premise of generating bias current, namely generating torque, namely after the most appropriate three-phase vector is selected, dividing the three-phase vector to each set of stator tooth winding, establishing a suspension force model to predict the actual suspension force of the next period, finally substituting the actual suspension force into a cost function for comparison, and selecting the vector with the minimum value as the most appropriate winding vector.
As shown in fig. 2, the 12/8 pole bearingless switched reluctance motor is composed of 12 stator teeth and 8 rotor teeth, and is divided into 3 phases, each of the 4 stator teeth of each phase has only one set of winding, and the rotor teeth have no winding. Due to the particularity of the structure and the control method of the switched reluctance motor, the direct torque control only carries out hysteresis control on the torque without controlling a flux linkage, so that the flux linkage can be abandoned. The 12/8-pole single-winding bearingless switched reluctance motor is taken as an embodiment, and the specific steps are divided into the following four steps.
(1) The three-phase voltage vectors are first determined by torque calculations. Fig. 3 is a three-phase voltage diagram of the present invention, and some vectors may be excluded by analysis first in order to reduce the amount of computation. Fig. 4 is a three-phase inductance graph of the present invention, each inductance cycle of the motor operation can be divided into 6 sectors S1-S6, in each sector, one phase winding inductance value is in a rising region, one phase winding inductance value is in a falling region, and one phase winding inductance value is in a constant region. The increase and decrease of the torque is in direct proportion to the slope of the inductance, namely when the inductance value is in a rising region, the motor generates positive torque, and the torque is increased; when the inductance value is in a descending region, the motor generates negative torque, and the torque is reduced; when the inductance value is in the constant region, the motor generates substantially no torque. Therefore, when the torque needs to be increased, the phase winding switching tube with the inductance value in the rising region should be conducted, and the voltage vector of the phase winding is 1; the phase winding with inductance value in the descending area can generate negative torque after being conducted, so that the total torque can be reduced, the switch tube of the phase winding is required to be turned off, and the voltage vector is '-1'; the state of the voltage vector of the third phase winding is related to the position of the inductance of the third phase winding, when the rotor is in the front half area with unchanged inductance, the voltage vector keeps a "-1" mode, and when the rotor is in the rear half area with unchanged inductance, the voltage vector is switched to a "1" mode to establish current due to the fact that the rotor is immediately transited to an inductance rising area. Similarly, when the torque needs to be reduced, the phase winding switch tube with the inductance value in the rising region should be turned off, the voltage vector of the phase winding is "-1", the phase winding switch tube with the inductance value in the rising region should be turned on, the voltage vector of the phase winding is "1", and the voltage vector of the third phase winding should be kept unchanged. Thus, when the torque changes in any sector, two vectors are available for selection. The three-phase voltage vector selection table for each sector can be expressed as:
| |
1 | 2 | 3 | 4 | 5 | 6 |
| Increasing torque | v3 | v4 | v5 | v6 | v1 | v2 |
| Reducing torque | v1 | v6 | v3 | v2 | v5 | v4 |
When the motor runs into the sector 6, namely 'N is 6', and the torque needs to be increased, the switching tube corresponding to the phase-a winding is switched on, and the phase-a voltage vector is '1'; and when the C phase is in an inductance descending area, the switching tube corresponding to the C phase winding is required to be turned off, the voltage vector is '1', the B phase is in an inductance flat bottom area, the motor in the area can provide small positive torque and is required to be transited to an inductance ascending area immediately, the B phase is required to be turned on in advance to establish current, the voltage vector is '1', and therefore the three-phase voltage vector in the sector 6 is (1,1, -1). Similarly, when the torque needs to be reduced, the switch tube corresponding to the winding of the phase A should be turned off, the switch tube corresponding to the winding of the phase C should be turned on, and the voltage vector of the phase B should be kept as 1 as the current is to be established, so the voltage vector of the three phases should be (-1,1, 1).
(2) And substituting the predicted current value and the predicted torque value under the action of the two vectors into a cost function for calculation, wherein a current prediction equation can be obtained from a voltage equation and can be expressed as:
wherein, Uk,ik,θkRespectively representing the terminal voltage current value of the winding at the moment k and the position value of the rotor, ik+1Represents the predicted current value at the time k + 1, Δ T represents the time per cycle, ψ represents the phase flux linkage, R represents the phase resistance, and ω represents the motor rotation speed value.
The torque prediction equation is obtained by discretizing a mathematical model of the bearingless switched reluctance motor and can be expressed as follows:
wherein ia(k+1),ib(k+1),ic(k+1)Respectively representing three-phase predicted current values at the moment of k +1, N representing the number of turns of each tooth pole winding, Jt(θk+1) Representing the value of the torque coefficient at time k + 1.
Because the operation mechanism of the switched reluctance motor is different from that of an asynchronous motor and a permanent magnet motor, the torque cost function only needs to contain torque quantity and flux linkage quantity, and the torque calculation quantity is reduced. The torque cost function is expressed as follows:
JT＝(Tpre-Tref)2
wherein, TpreRepresenting the predicted torque at time k + 1, TrefRepresenting a given amount of torque.
(3) The vector is then further assigned to each tooth for each phase to obtain a base vector for each tooth. Fig. 5 is a diagram of the sign of the fundamental voltage vector of the present invention, the resultant sign of the fundamental vector must be the same as the sign of the phase vector, and is selected according to the magnitude of the levitation forces on the two coordinate axes and the feedback, and meanwhile, in order to not generate negative torque, the levitation force control interval is selected to be [ -15 °,0 ° ], and only one phase is provided at any time. The selection rules of the tooth pole vectors in the two directions are consistent, and can be expressed as follows:
| three phase voltage vector | 1 | -1 | 0 |
| Increasing the |
1,0 | 0,-1 | 1,-1 |
| Suspension force reduction | 0,1 | -1,0 | -1,1 |
For example, when the three-phase voltage vector obtained by torque prediction is (1,1, -1) and in sector 6, the levitation force in the α and β directions needs to be increased, the a-phase voltage vector is decomposed into (1,1,0,0), and the signs of the remaining phase vectors are unchanged, so that the basic vector is ((1,1, 0), (1,1,1,1), (-1, -1, -1, -1) is obtained). Other phase vector decompositions are the same as A phase, a suspension force prediction equation is the same as a torque prediction equation, and the suspension force prediction equation is realized after discretization by a mathematical model and can be expressed as follows:
wherein is1(k+1),is2(k+1),is3(k+1),is4(k+1)Respectively representing the current of four teeth per phase,
Δis1(k+1),Δis2(k+1)respectively representing the average excitation current of the four teeth and the current difference of the opposite teeth in two directions, Fα(k+1),Fβ(k+1)Respectively represents the predicted suspension force in two directions at the moment of K +1, Kf(θk+1) Representing the value of the suspension coefficient at the time k + 1.
(4) And finally substituting the decomposed basic voltage vector into the suspension force cost function. Since the levitation force is provided by only one phase winding at any moment, and the rest phases are uniformly excited, the cost function only needs to include the phase. And the cost functions of the buoyancy in the two directions are consistent, and the expression is as follows:
Jα_F＝(Fα_pre-Fα_ref)2
Jβ_F＝(Fβ_pre-Fβ_ref)2
wherein, Fα_pre,Fβ_preRepresenting the predicted suspension force in the alpha and beta directions at the k +1 moment, Fα_ref,Fβ_refRepresenting a given amount of levitation force in the alpha, beta directions.
The optimal basic voltage vector of each tooth pole can be obtained through the cost function of the torque and the suspension force, so that the torque and the suspension force of the bearingless switched reluctance motor can be accurately controlled.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.
Claims (7)
1. A torque and suspension force optimization control method for a bearingless switched reluctance motor is characterized by comprising the following steps:
step 1, determining a three-phase voltage vector of each sector through torque calculation, when the torque needs to be increased, turning on a phase winding switch tube with an inductance value in an ascending region, and turning off the phase winding switch tube with the inductance value in a descending region, wherein when a rotor is in a first half region with unchanged inductance, the phase winding voltage vector with the inductance value in an unchanged region is in a "-1" mode, and when the rotor is in a second half region with unchanged inductance, the phase winding voltage vector with the inductance value in the unchanged region is in a "1" mode; when the torque needs to be reduced, the phase winding switch tube with the inductance value in the rising area is turned off, the phase winding switch tube with the inductance value in the falling area is turned on, and the voltage vector of the phase winding with the inductance value in the invariable area is kept invariable;
step 2, calculating a current predicted value according to two three-phase voltage vectors for selection when the torque of any sector changes, establishing a torque prediction model, substituting the current predicted value into the torque prediction model to calculate a torque predicted value, substituting the torque predicted value into a torque cost function to calculate, and selecting the corresponding three-phase voltage vector when the obtained torque cost function value is minimum;
and 3, decomposing each phase voltage vector into a basic voltage vector according to the three-phase voltage vector selected in the step 2, dividing the basic voltage vector into each phase of stator tooth winding, establishing a suspension force prediction model to calculate a suspension force predicted value, substituting the suspension force predicted value into a suspension force cost function to compare, taking the corresponding basic voltage vector when the suspension force cost function value is minimum as the optimal basic voltage vector of each stator tooth winding, and realizing the control of the torque and the suspension force of the bearingless switched reluctance motor according to the optimal basic voltage vector.
2. The method for optimally controlling the torque and the levitation force of the bearingless switched reluctance motor according to claim 1, wherein the three-phase voltage vector is determined through torque calculation in the step 1, and the method specifically comprises the following steps:
in each induction period, the motor runs to sector I, and when the torque needs to be increased, the three-phase voltage vector is v3(-1,1, -1) when torque needs to be reduced, the three-phase voltage vector is v1(1, -1, -1); when the motor runs to the sector II and the torque needs to be increased, the three-phase voltage vector is v4(-1,1,1) when torque demand decreases, the three-phase voltage vector is v6(1, -1, 1); when the motor runs to the sector III, when the torque needs to be increased, the three-phase voltage vector is v5(-1, -1,1) when torque demand decreases, the three-phase voltage vector is v3(-1,1, -1); when the motor runs to the sector IV and the torque needs to be increased, the three-phase voltage vector is v6(1, -1,1), when the torque needs to be reduced, the three-phase voltage vector is v2(1,1, -1); when the motor runs to a V sector and the torque needs to be increased, the three-phase voltage vector is V1(1, -1, -1), when the torque needs to be reduced, the three-phase voltage vector is v5(-1, -1, 1); when the motor runs to the VI sector and the torque needs to be increased, the three-phase voltage vector is v2(1,1, -1), when the torque needs to be reduced, the three-phase voltage vector is v4(-1,1,1)。
3. The method for optimally controlling the torque and the levitation force of the bearingless switched reluctance motor according to claim 1, wherein the current predicted value in the step 2 is calculated by the following formula:
wherein ik+1Represents the predicted current value at time k +1, Uk,ik,θkRespectively representing the terminal voltage value, the current value and the rotor position value of a winding at the moment k, delta T represents time per period, psi represents phase flux linkage, and R represents phaseThe resistance, ω, represents the motor speed value.
4. The method for optimally controlling the torque and the levitation force of the bearingless switched reluctance motor according to claim 1, wherein the torque prediction model in the step 2 has the formula:
wherein, Tk+1Represents the predicted torque value at the time k +1, Jt(θk+1) Representing the value of the torque coefficient at time k +1, thetak+1Representing the rotor position value at the moment k +1, N representing the number of turns of the winding per tooth pole, ia(k+1),ib(k+1),ic(k+1)The predicted values of the phase currents at the time a, b and c of k +1 are shown, respectively.
5. The method for optimally controlling the torque and the levitation force of the bearingless switched reluctance motor according to claim 1, wherein the torque cost function in the step 2 is represented by the formula:
JT＝(Tk+1-Tref)2
wherein, JTRepresenting the value of the torque cost function, Tk+1Indicates the predicted torque value at time k +1, TrefIndicating a given amount of torque.
6. The method for optimally controlling the torque and the levitation force of the bearingless switched reluctance motor according to claim 1, wherein the levitation force prediction model in the step 3 has the formula:
wherein is1(k+1),is2(k+1),is3(k+1),is4(k+1)Respectively represents the current of the 1 st, 2 nd, 3 rd and 4 th tooth poles of each phase at the moment of k +1,
represents the average excitation current of four teeth poles at the time of k +1, delta is1(k+1),Δis2(k+1)Respectively representing the difference of the currents of the opposite teeth in the alpha and beta directions at the time k +1, Fα(k+1),Fβ(k+1)Respectively represents predicted values of the suspension force in the directions of alpha and beta at the moment of K +1, Kf(θk+1) Denotes the value of the suspension coefficient at the time k +1, θk+1Representing the rotor position value at time k + 1.
7. The method for optimally controlling the torque and the levitation force of the bearingless switched reluctance motor according to claim 1, wherein the levitation force cost function in the step 3 has the formula:
Jα_F＝(Fα(k+1)-Fα_ref)2
Jβ_F＝(Fβ(k+1)-Fβ_ref)2
wherein, Jα_F,Jβ_FRespectively represent the values of the suspension force cost functions in the alpha and beta directions, Fα(k+1),Fβ(k+1)Respectively represents predicted values of alpha and beta directions of the suspension force at the moment of k +1, Fα_ref,Fβ_refRespectively, given amounts of levitation forces in the α and β directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030592.4A CN109995296B (en) | 2019-01-14 | 2019-01-14 | Method for optimally controlling torque and suspension force of bearingless switched reluctance motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030592.4A CN109995296B (en) | 2019-01-14 | 2019-01-14 | Method for optimally controlling torque and suspension force of bearingless switched reluctance motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109995296A CN109995296A (en) | 2019-07-09 |
| CN109995296B true CN109995296B (en) | 2020-12-08 |
Family
ID=67130135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910030592.4A Active CN109995296B (en) | 2019-01-14 | 2019-01-14 | Method for optimally controlling torque and suspension force of bearingless switched reluctance motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109995296B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113746397B (en) * | 2021-08-20 | 2023-01-31 | 西北工业大学 | Method for controlling predicted torque and radial force of switched reluctance motor model |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100459407C (en) * | 2007-03-14 | 2009-02-04 | 南京航空航天大学 | Bearingless switched reluctance motor error-tolerant operation control method |
| CN101697469B (en) * | 2009-10-28 | 2011-08-24 | 南京航空航天大学 | Method for controlling position-less sensor of bearing-less switched reluctance motor |
| KR20150139219A (en) * | 2014-06-03 | 2015-12-11 | 경성대학교 산학협력단 | 12/14 Hybrid Pole Type Bearingless Switched Reluctance Motor |
| CN106655964B (en) * | 2016-09-12 | 2018-12-28 | 滨州学院 | The full velocity shooting control mode of switched reluctance machines smoothly switches speed regulating method |
| CN106655549B (en) * | 2016-11-25 | 2019-04-12 | 南京邮电大学 | A kind of decoupling control method of composite rotors bearing-free switch reluctance motor |
| CN107425762B (en) * | 2017-07-04 | 2019-10-22 | 大连海事大学 | A kind of three-phase switch reluctance machine prediction moment controlling system and method |
| CN108809187A (en) * | 2018-06-13 | 2018-11-13 | 徐州工程学院 | The switched reluctance machines torque prediction control system and method for Discrete Space Vector Modulation |
-
2019
- 2019-01-14 CN CN201910030592.4A patent/CN109995296B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109995296A (en) | 2019-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110460281A (en) | The double vector models of three level permanent magnet synchronous motor of one kind predict flux linkage control method | |
| Sozer et al. | Guidance in selecting advanced control techniques for switched reluctance machine drives in emerging applications | |
| CN102577093A (en) | Control device of motor drive device | |
| CN105048896B (en) | A kind of brshless DC motor Direct Torque adaptive fuzzy control method | |
| CN111327242A (en) | Model-free prediction current control method for three-level permanent magnet synchronous motor | |
| CN112217437A (en) | Permanent magnet synchronous motor three-vector model prediction current control circuit and method | |
| CN106685304A (en) | Optimized regenerative braking control of electric motors using look-up tables | |
| CN111262491B (en) | Incremental direct prediction speed control method suitable for permanent magnet motor system | |
| CN109995296B (en) | Method for optimally controlling torque and suspension force of bearingless switched reluctance motor | |
| CN113098348B (en) | Predictive torque control method for double three-phase permanent magnet synchronous motor | |
| CN112751513B (en) | Motor control method and device, motor, storage medium and processor | |
| CN109450327A (en) | Based on the permanent magnet motor system of discrete duty cycles without Weight prediction method for controlling torque | |
| CN111969916B (en) | Multi-current-difference-updating model-free prediction current control method for permanent magnet synchronous motor | |
| CN108448986A (en) | Magneto current control method based on BREATHABLE BANDWIDTH type PREDICTIVE CONTROL | |
| CN111342729B (en) | Self-adaptive reverse thrust control method of permanent magnet synchronous motor based on gray wolf optimization | |
| CN112532132A (en) | Rapid current response control method for permanent magnet synchronous motor | |
| CN113949320B (en) | Induction motor prediction control driving method and system | |
| CN116317751A (en) | Novel induction motor model prediction speed control method | |
| CN113343592B (en) | Intelligent control method for DQN (direct current) of permanent magnet synchronous motor of new energy aircraft | |
| CN112994565B (en) | Permanent magnet synchronous motor three-vector five-sector model prediction current control algorithm | |
| CN113922720A (en) | PMSM model prediction current control algorithm based on duty ratio control | |
| Ma et al. | Reference voltage vector based model predictive torque control with RMS solution for pmsm | |
| Mahmoudi et al. | Neuro-Genetic sensorless sliding mode control of a permanent magnet synchronous motor using Luenberger observer | |
| CN113098351B (en) | Surface-mounted permanent magnet synchronous motor model prediction torque control method | |
| Yuan et al. | Nominal Model-Based Control for Permanent Magnet Synchronous Motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |